Topics. Mobile Mapping Systems The New Trend in Mapping and GIS applications. Background on mobile mapping systems (MMS) Components of MMS
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1 Moile Mapping Syte The New Trend in Mapping and GIS appliation Prof. Naer El-Sheiy Canada Reearh Chair The Univerity of Calgary Moile Multi-Senor Syte Reearh Group Topi Bakground on oile apping yte (MMS) Motivation for their developent Coponent of MMS Kineati Modeling Diret Georeferning New developent 2 Moile Multi-Senor Syte reearh group Moile Mapping Syte (MMS) The idea of oile apping, i.e. apping fro oving vehile, ha een around for at leat a long a photograetry ha een pratied. Aout 15 year ago, advane in atellite poitioning and inertial tehnology ade it poile to think aout oile apping in a different way. Intead of uing ground ontrol a referene for orienting the iage in pae, trajetory and attitude of the iager platfor ould now e deterined diretly. Hand in hand with thi developent went the hange fro analog to digital iaging tehnique a hange that ha onideraly aelerated over the pat few year. 3 Moile Multi-Senor Syte reearh group Charateriti of MMS They are typially ued in kineati ode. Integrate a et of enor (Navigation and Digital Iaging) ounted on a oon platfor and ynhronized to a oon tie a Generally ue diret georeferening odule to tranfor the tie-dependent eaureent proe into a equene of georeferened reotely ened data whih an e onidered They an an e e iediately deployed everywhere on on the the gloe without the need for for identifying exiting ground ontrol. 4 Moile Multi-Senor Syte reearh group Coponent of MMS MMS Iportant Date Senor Odoeter Laer Digital Caera Vehile Appliation Mapping DTM Environental Monitoring GIS Mahine Control Aident Invetigation Digital inertial tehnology (Strapdown ) eoe availale Differential ued for preie kineati poitioning Indutrial analog video aera Conuer digital aera Coerial - land MMS High-reolution digital aera and anner Coerial - airorne MMS MEMS tehnology ued in MMS prototype 5 Moile Multi-Senor Syte reearh group 6 Moile Multi-Senor Syte reearh group 1
2 MMS Early Land Syte Land DMM State of the Art VanTM, 1993 Car Driven Survey Syte (CDSS), 1997 Moile Multi-Senor Syte reearh group 7 3-line Puhroo Sanner Motly panorai view Color ediu/high reolution digital aera / integrated yte Auray: High prodution and all iage interval Moile Multi-Senor Syte reearh group 8 Multiple Full Frae Digital Caera Leia - Airorne Digital Senor (ADS40) Photo Sale Georeferening ri = rnav (t ) + R (t )[ R r + a a ] i Indiretly Moile Multi-Senor Syte reearh group Georeferening Model y extrating fro a lok of iage uing Aerial Triangulation with uffiient nuer of well-ditriuted ground ontrol point and eaured tie point Diretly uing uitale poition and orientation enor alo known a Diret Georeferening Gloal Poitioning Syte () Inertial Navigation Syte () 11 Moile Multi-Senor Syte reearh group 10 Two ai approahe to deterine the EO paraeter Caera len perpetive entre in the -frae Rotation atrix etween the i and -frae rp = rp (t ) + Ri (t )rpi ZI - Digital Mapping Caera (DMC) Moile Multi-Senor Syte reearh group 9 It define the tranforation of a point in the iage frae (i-frae) to the apping frae (-frae) Two piee of inforation are required Applanix - Digital Senor Syte (DSS) Leador Tehnology Iage Georeferening Airorne MMS State of the Art Full Frae Single Digital Caera Antenna VISAT Motly Stereo-aed yte B/W low reolution analog aera and dead-rekoning i the tandard (VISAT /) Auray: Liited prodution and iage interval Liited Speed of the vehile S-VHS Caera 8 Digital Caera VISAT Van antenna a R (t) -frae r (t) r Origin of -frae 12 R a r -frae R (t) = R (t) R Caera attitude Caliration attitude Moile Multi-Senor Syte reearh group 2
3 Georeferening Reote Senor Meaureent Georeferening Coordinate Frae ri = r(t) + R(t) (i R ri + a a ) x xp The Iaging Vetor r = a z /ody (-) frae 0 Puhproo Sanner = y y p r(t) x z a z y y R R(t) x y Caera (-) frae ri i R ri LiDAR = Mapping feature x Moile Multi-Senor Syte reearh group 13 Inertial Tehnology Error Copenation Ltn-200 Auray Prie IMU Moile Multi-Senor Syte reearh group 14 MEMS enor with an average ot 20$ per enor 60 North Eat Height gap 40 Correted Correted Raw RawInertial Inertial K USD 0-20 BEI-DQI Raw RawInertial Inertial <10K USD 15 Moile Multi-Senor Syte reearh group Exaple of MMS Integrated with ingle point poitioning output (aurate to ) and proeed through the Tool Box (Shin and El-Sheiy, 2003) Kalan filter oftware IMU tand-alone reult during 30e outage are within 5-10 (RMS) -40 ISA Univerity of Calgary MEMS-aed IMU Developed y eploying off-the-helve Navigation Navigation++ Correted Correted Raw RawInertial Inertial Navigation Coputer K USD Ltn-100G d in α 0 d o α The Potential of MEMS Error Copenation f Poition Error () Mapping (-) frae Full Frae Sanner = y y p f GP S Tie (e) Moile Multi-Senor Syte reearh group Land Baed : The VISAT Van Antenna 8 Digital Caera 18 Moile Multi-Senor Syte reearh group 3
4 The VISAT Van VISAT Van - Beta Eah aera enloure i heretially ealed and ontain 3 aera in front of window of photograetri glae to liit the ditortion. Antenna SVHS 8 Caera Moile Multi-Senor Syte reearh group 19 Moile Multi-Senor Syte reearh group 20 VISAT Station Portale MMS Syte Overview Aquiition Moile Multi-Senor Syte reearh group 21 Moile Multi-Senor Syte reearh group 22 Mapping Auray Portale MMS Syte Overview Again, aolute Iage 1 auraie iilar to L1 RTK Muh of the error partiularly in height i a ia Relative error i aller Iage 2 3-D oordinate Anhor 1 23 Anhor 2 Moile Multi-Senor Syte reearh group 24 N or th in g 3 Iage, iage point eaureent Ea t in g RMSE () Mean () σ () RMSE () Mean () σ () H ei g h t Moile Multi-Senor Syte reearh group 4
5 MMS in Pipeline Mapping - GeoPig Syte GeoPig Syte Courtey of BJ Pipeline Inpetion Servie x,y,z Courtey of BJ Pipeline Inpetion Servie x,y,z Poition Update of Inertial Survey GEOPIG 25 Moile Multi-Senor Syte reearh group 26 Moile Multi-Senor Syte reearh group Iproving the Auray of GeoPig Syte Eerging Appliation: Multi-enor In Wildlife Manageent Tatial Grade 1 deg/h Cae 1: + Odoeter + CUPT Cae 2: Cae 1 + nonholonoi Contraint Cae 3: Cae 2 + Bakward Soothing RMSE () Moile Multi-Senor Syte reearh group 28 Moile Multi-Senor Syte reearh group The UofC - Collar The UofC - Collar Aeleroeter or Pedoeter Digital Copa or Magnetoeter 29 Moile Multi-Senor Syte reearh group 30 Moile Multi-Senor Syte reearh group 5
6 The UofC Collar The UofC Collar 31 Moile Multi-Senor Syte reearh group 32 Moile Multi-Senor Syte reearh group Eerging Appliation: Real Tie Identifiation and Loation of Foret Fire Hotpot WAD WAD Hardware Coponent AHARS Video Caera P S G W AD Theral Caera Real-tie reporting of the exat ituation of fire Aiting the Foret Fire Inforation Center in aurately aeing the fire Preiely direting water-oer and fire-fighting rew Theral Caera 33 Moile Multi-Senor Syte reearh group 34 Moile Multi-Senor Syte reearh group Real-tie Detetion of Foret Fire and Hotpot Syte Conept r = r (t) + R (t) (S R r - a ) Point a antenna a antenna -frae R (t) a R S S-frae -frae R (t) a R S S-frae t t+1 t+n Original Theral Iage Deteted Fire and Hotpot 35 Moile Multi-Senor Syte reearh group 36 Moile Multi-Senor Syte reearh group 6
7 F3 Syte Auray Horizontal RMS of 8 Suary 1. MMS are eoing an eerging trend for apping appliation eaue of : Market deand for effiient way of data olletion and A tehnology puh due to new iaging and navigation hardware. 2. Multi-enor yte are haraterized y : Tight enor integration during the eaureent proe (ynhronization on oon platfor). A total olution approah (no external ontrol needed). Georeferening y / a the ore atheatial tehnique. 3. Other Iportant apet of MMS are : fuion with the goal of iniizing the total error udget. Ipleentation of MMS for real-tie appliation. Effiient anipulation of large data et. 37 Moile Multi-Senor Syte reearh group 38 Moile Multi-Senor Syte reearh group Georeferening Model (ont.) VISAT Station Ojet Editor 39 Moile Multi-Senor Syte reearh group 40 Moile Multi-Senor Syte reearh group Diret Georeferening State of the Art Perforane Prie (USD) Gyro Drift rate (deg/hr) Ael ia Navigation- Grade ( or IMU) k deg/hr µg Tatial Grade (IMU or ISA) K deg/hr µg Conuer Grade (enory or ISA) $/axi deg/hr g Auray with D 5-15 are arin deg Senor/ appliation Fil aed aerial aera & Land DMM yte Digital aerial yte (inluding LIDAR and IfSar) Portale DMM 41 Moile Multi-Senor Syte reearh group 7
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